Orbbec SDK V2 Integration ?

[pakreht]

Hello •ᴗ•

Considering the fact that the new SDK v2 of Orbbec, which is the main SDK for all Orbbec Camera for now isn't OpenNI compatible (and won't be). Do you have any plan of adding support for this SDK which will allow all Orbbec Cameras to be compatible with RTAB-Map ?
Also, good to mention that the SDK V1 which still work, is using OpenNI1, so even using this old SDK we can't use RTAB-Map.

Adding support for this SDK v2 would allow all Orbbec Cameras to be able to use RTAB-Map •ᴗ•

Everything is explained in the description of this Git Repo : OrbbecSDK
Also, good to mention there is a repo that add OpenNI2 capacities to some Orbbec Cameras, but this only target old Orbbec camera which aren't produced anymore (old Astra series). OpenNI_SDK

Thanks !

[matlabbe]

I don't own an Orbbec camera, so it is hard for me to test/support it. I do have a K4A camera, thought not sure how close the https://github.com/orbbec/OrbbecSDK-K4A-Wrapper would be from OrbbecSDK v2 to try it, and if it even works with K4A camera (looks like the wrapper is more targeting apps using K4A SDK to be compatible with Femto cameras, though no mention if using the wrapper with K4A camera would still work).

[pakreht]

Ow, I understand the issue then.

K4A Wrapper have been made for the Orbbec Femto series only. It is a way for these cameras to use the SDK made for the Azure Kinect initially. It's a deal between Orbbec & Microsoft made after the end of AKDK.
I don't think it's the best solution based on that.

Considering the project you are working on, and the popularity of it. If I were you, I would definitely try to reach Orbbec and ask for a free camera to integrate SDK V2 to this project.
The Astra 2 would be a great candidate as it have structured light technology, IMU, and is quite cheap.
I'm sure they'll accept !

Good luck & Thanks •ᴗ•

[matlabbe]

Thanks for the suggestion, I was about to ask which camera should I take that supports most of the functionalities of the SDK. I'll take a look at the Astra 2.

[pakreht]

Hello,
Just here to get some news, did you manage to get a camera ?
Have a great day :]]

[matlabbe]

Thx for the reminder, I just bought an Astra 2, I should receive it in a week!

[pakreht]

Amazing ! Thanks for the dedication haha :]

[matlabbe]

The Orbbec SDK v2 integration has been merged to master, to use it:

cd rtabmap/build
cmake -WITH_ORBBEC_SDK=ON -DOrbbecSDK_DIR=/opt/OrbbecSDK_v2.4.11/lib ..
make -j4

Note that the code requires that OrbbecSDK v2 is built with that patch: orbbec/OrbbecSDK_v2#107. If you are using their latest v2 binary release and if you don't have OrbbecSDK v1 already installed, you could edit the main CMakelists.txt file and remove the "2" on this line:

rtabmap/CMakeLists.txt

Line 703 in f0dab18

FIND_PACKAGE(OrbbecSDK 2 QUIET)

- find_package(OrbbecSDK 2 QUIET)
+ find_package(OrbbecSDK QUIET)

[pakreht]

Amazing news, will try this as soon as i can, thanks again !